Related papers: Time-dependent Zermelo navigation with tacking
Accurate vessel trajectory prediction is necessary for save and efficient navigation. Deep learning-based prediction models, esp. encoder-decoders, are rarely applied to inland navigation specifically. Approaches from the maritime domain…
The purpose of this work is to build a framework that allows for an in-depth study of various generalisations to inhomogeneous space of models of Borodin-Ferrari, Dieker-Warren, Nordenstam, Warren-Windridge of interacting particles in…
We consider remodeling the planar search patterns, in the presence of the river-type perturbation represented by the weak vector field, basing on the time-optimal paths as Finslerian solutions to the Zermelo navigation problem via Randers…
Motivated by the computational difficulties incurred by popular deep learning algorithms for the generative modeling of temporal densities, we propose a cheap alternative which requires minimal hyperparameter tuning and scales favorably to…
We consider a toy model of rate independent droplet motion on a surface with contact angle hysteresis based on the one-phase Bernoulli free boundary problem. We introduce a notion of solutions based on an obstacle problem. These solutions…
A periodic temporal graph, in its simplest form, is a graph in which every edge appears exactly once in the first $\Delta$ time steps, and then it reappears recurrently every $\Delta$ time steps, where $\Delta$ is a given period length.…
In this paper we present a novel strategy to compute minimum-time trajectories for quadrotors. In particular, we consider the motion in constrained environments, taking into account the physical limitations of the vehicle. Instead of…
Inferring electromagnetic propagation characteristics within the marine atmospheric boundary layer (MABL) from data in real time is crucial for modern maritime navigation and communications. The propagation of electromagnetic waves is well…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
In this paper we study the sub-Finsler geometry as a time-optimal control problem. In particular, we consider non-smooth and non-strictly convex sub-Finsler structures associated with the Heisenberg, Grushin, and Martinet distributions.…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…
A functional for joint variational object segmentation and shape matching is developed. The formulation is based on optimal transport w.r.t. geometric distance and local feature similarity. Geometric invariance and modelling of…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
Pedestrian trajectory prediction is a critical to avoid autonomous driving collision. But this prediction is a challenging problem due to social forces and cluttered scenes. Such human-human and human-space interactions lead to many…
A covariant and invariant theory of navigation in curved space-time with respect to electromagnetic beacons is written in terms of J. L. Synge's two-point invariant world function. Explicit equations are given for navigation in space-time…
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…
The classical dynamics of a particle that is driven by a rapidly oscillating potential (with frequency $\omega$) is studied. The motion is separated into a slow part and a fast part that oscillates around the slow part. The motion of the…